calc_points_in_base.cpp File Reference

Function to convert coordinates of all points in tib structure on given collar to co-ordinates in frame fixed to left-most link of the collar. More...

#include <stdlib.h>
#include <stdio.h>
#include <math.h>
#include <vector>
#include "lowerleg_func.h"
#include "postprocess.h"

Include dependency graph for calc_points_in_base.cpp:

Functions
int	calc_pts_in_collar_base_frame (tibia &tib, collar &col, vector< vector< double > > &Hprev, vector< vector< double > > &Pvals, vector< vector< double > > &qvals, vector< double > &firstlink)
	Calculate the position of all relevant points of given collar in collar frame, i.e convert from link co-ordinates to collar co-ordinates.

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Detailed Description

Function to convert coordinates of all points in tib structure on given collar to co-ordinates in frame fixed to left-most link of the collar.

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Function Documentation

int calc_pts_in_collar_base_frame	(	tibia &	tib,
		collar &	col,
		vector< vector< double > > &	Hprev,
		vector< vector< double > > &	Pvals,
		vector< vector< double > > &	qvals,
		vector< double > &	firstlink
	)

Calculate the position of all relevant points of given collar in collar frame, i.e convert from link co-ordinates to collar co-ordinates.

The program will take the co-ordinates of points defined in tibia/collar structure (read from config file) and convert them to co-ordinates in the collar frame, attached to the leftmost link. The results are over-written into the tibia structure.

References tibia::accelerometers, tibia::accl_count, tibia::act_wire_count, tibia::active_wires, calc_transf_matrix(), tibia::col_LINKs, tibia::force_count, tibia::force_sensors, tibia::free_count, tibia::free_sensors, get_link_number(), gsl_matrixprod(), gsl_matrixvecprod(), gsl_vector2double(), LINK::label, sensor::LINK_label, collar_info::LINK_labels, collar::nb_LINKs, tibia::opt_col_count, tibia::opt_col_data, tibia::opti_count, tibia::optical, collar_info::P1, LINK::P1, collar_info::P2, LINK::P2, LINK::P3, LINK::P4, tibia::pass_wire_count, tibia::passive_wires, sensor::rot_matrix, sensor::xa, sensor::ya, and sensor::za.

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